version: 66.02
glider: 102
mission: 4
dive: 72
start: 11 24 107 0 20 57
data:
$ID,102
$MISSION,4
$DIVE,72
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-77615.281
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,001556,6126.424,-902.617,36,1.5,36,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-57.8
$GPS2,002003,6126.391,-902.610,13,1.1,13,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.129,0.164
$KALMAN_X,52789.4,-1452.5,-159.8,-79849.3,29082.5
$KALMAN_Y,138975.2,1376.7,-641.4,-152221.1,-16474.0
$MHEAD_RNG_PITCHd_Wd,331.0,36136,-10.7,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,83,0.00,0.00,-62.47,0.000,2,0.000,0.000,29,1879,2972
$GC,85,-0.95,-146.6,3.6,-5.5,3,117,11.88,2.55,-13.38,0.000,4,0.139,0.074,2286,499,3477
$GC,171,-0.95,-146.6,14.4,-9.4,7,176,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1905,3477
$GC,498,-0.95,-146.6,38.7,-8.2,23,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,808,-0.95,-146.6,64.2,-8.9,38,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,1117,-0.95,-146.6,86.6,-6.5,53,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,1426,-0.95,-146.6,108.5,-8.4,68,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,1735,-0.95,-146.6,137.5,-9.5,83,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,2044,-0.95,-146.6,161.3,-7.1,98,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,2354,-0.95,-146.6,180.8,-6.5,113,2358,0.00,2.47,0.00,0.000,4,0.000,0.048,2286,3295,3477
$GC,2424,-0.95,-146.6,185.7,-6.9,116,2429,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1906,3477
$GC,2745,-0.95,-146.6,208.6,-8.1,132,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3477
$GC,3055,-0.95,-146.6,234.4,-7.7,147,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3477
$GC,3364,-0.95,-146.6,252.1,-4.6,162,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3477
$GC,3674,-0.95,-146.6,267.0,-5.3,177,3678,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3303,3477
$GC,3762,-0.95,-146.6,272.1,-5.9,181,3766,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3477
$GC,4089,-0.95,-146.6,290.4,-4.8,197,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3477
$GC,4398,-0.95,-146.6,304.2,-4.6,212,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3477
$GC,4707,-0.95,-146.6,322.1,-6.3,227,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3477
$GC,5016,-0.95,-146.6,338.9,-4.8,242,5021,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3297,3477
$GC,5065,-0.95,-146.6,341.3,-5.4,244,5070,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1902,3477
$GC,5387,-0.95,-146.6,356.3,-4.6,260,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,5696,-0.95,-146.6,366.2,-2.7,275,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,6005,-0.95,-146.6,387.2,-7.0,290,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,6314,-0.95,-146.6,411.3,-8.8,305,6318,0.00,2.50,0.00,0.000,4,0.000,0.050,2286,3297,3477
$GC,6391,-0.95,-146.6,416.7,-7.8,308,6396,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1899,3477
$GC,6712,-0.95,-146.6,436.4,-8.0,324,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3477
$STATE,6917,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6917,begin apogee
$GC,6922,-0.36,0.0,452.9,6.7,334,7045,0.65,0.00,119.60,1.058,6,0.104,0.000,2419,2351,2878
$STATE,7045,end apogee,CONTROL_FINISHED_OK
$STATE,7046,begin climb
$GC,7047,0.95,146.6,456.8,0.0,340,7175,1.30,2.65,118.15,1.022,4,0.056,0.058,2701,3746,2280
$GC,7236,0.95,148.1,452.3,6.0,349,7241,0.00,2.50,0.00,0.000,6,0.000,0.038,2701,2346,2280
$GC,7557,0.99,177.8,434.6,5.1,365,7585,0.00,0.00,26.00,1.032,6,0.000,0.000,2702,2347,2153
$GC,7887,0.99,177.8,414.0,6.1,381,7891,0.00,2.60,0.00,0.000,4,0.000,0.059,2702,941,2153
$GC,7985,0.99,177.8,406.9,7.4,385,7993,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2336,2153
$GC,8301,1.01,196.8,387.8,5.4,401,8322,0.00,0.00,16.17,1.034,6,0.000,0.000,2702,2336,2075
$GC,8630,1.04,221.9,368.2,5.3,417,8657,0.00,2.62,21.00,1.019,4,0.000,0.055,2702,943,1973
$GC,8739,1.04,221.9,362.1,6.1,422,8744,0.00,2.53,0.00,0.000,6,0.000,0.041,2702,2349,1973
$GC,9066,1.04,221.9,341.3,6.6,438,9070,0.00,2.58,0.00,0.000,4,0.000,0.057,2702,941,1973
$GC,9143,1.04,221.9,336.3,6.3,441,9150,0.00,2.53,0.00,0.000,6,0.000,0.041,2702,2351,1973
$GC,9459,1.07,249.3,317.5,5.2,457,9488,0.12,2.67,22.58,0.996,4,0.054,0.058,2746,948,1861
$GC,9577,1.07,249.3,308.7,8.4,462,9581,0.00,2.50,0.00,0.000,6,0.000,0.040,2746,2342,1861
$GC,9898,1.07,249.3,280.4,10.0,478,9902,0.00,2.58,0.00,0.000,4,0.000,0.058,2746,939,1861
$GC,9969,1.07,249.3,272.9,9.9,481,9974,0.00,2.53,0.00,0.000,6,0.000,0.041,2746,2350,1861
$GC,10290,1.07,249.3,240.6,10.1,497,10294,0.00,2.58,0.00,0.000,4,0.000,0.057,2746,939,1861
$GC,10360,1.07,249.3,233.9,9.9,500,10365,0.00,2.53,0.00,0.000,6,0.000,0.039,2746,2349,1861
$GC,10682,1.07,249.3,208.0,6.4,516,10686,0.00,2.60,0.00,0.000,4,0.000,0.057,2746,938,1861
$GC,10742,1.07,249.3,204.0,8.2,519,10747,0.00,2.50,0.00,0.000,6,0.000,0.040,2746,2349,1861
$GC,11068,1.11,278.0,183.3,5.1,535,11098,0.00,2.65,23.55,0.919,4,0.000,0.057,2746,949,1743
$GC,11142,1.11,278.0,179.0,6.4,538,11147,0.00,2.50,0.00,0.000,6,0.000,0.039,2746,2348,1743
$GC,11463,1.11,278.0,163.5,6.5,554,11468,0.00,2.58,0.00,0.000,4,0.000,0.056,2746,941,1743
$GC,11557,1.11,278.0,156.6,7.7,558,11562,0.00,2.50,0.00,0.000,6,0.000,0.038,2746,2352,1743
$GC,11879,1.11,278.0,131.3,8.7,574,11883,0.00,2.60,0.00,0.000,4,0.000,0.056,2746,938,1743
$GC,11940,1.11,278.0,126.2,9.4,577,11944,0.00,2.47,0.00,0.000,6,0.000,0.038,2746,2351,1743
$GC,12265,1.11,278.0,99.5,8.4,593,12270,0.00,2.58,0.00,0.000,4,0.000,0.055,2746,942,1743
$GC,12327,1.11,278.0,94.1,8.9,596,12331,0.00,2.47,0.00,0.000,6,0.000,0.038,2746,2358,1743
$GC,12652,1.11,278.0,62.1,11.0,612,12656,0.00,2.58,0.00,0.000,4,0.000,0.054,2746,942,1744
$GC,12739,1.11,278.0,51.9,11.3,616,12744,0.00,2.47,0.00,0.000,6,0.000,0.037,2746,2345,1744
$GC,13066,1.11,278.0,21.2,11.6,632,13070,0.00,2.58,0.00,0.000,4,0.000,0.056,2746,941,1743
$GC,13131,1.11,278.0,13.9,10.5,635,13136,0.00,2.47,0.00,0.000,6,0.000,0.038,2746,2349,1743
$STATE,13312,end climb,SURFACE_DEPTH_REACHED
$STATE,13313,begin surface coast
$FINISH,0.6,1.027326
$STATE,13336,end surface coast,CONTROL_FINISHED_OK
$STATE,13336,begin surface
$SM_CCo,13355,19.67,0.809,2,0,1655,300.00
$SM_GC,1.13,0.00,0.00,19.67,0.000,0.000,0.809,30,1885,1655,-11.34,-0.42,300.00
$IRIDIUM_FIX,6103.81,-906.30,241107,000032
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,17.00
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,376.7,86.2
$24V_AH,23.5,22.665
$10V_AH,10.1,9.462
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.650,98.125,347.050,19.675,0.000,36.493,28.862,101.641,24.500,0.000,0.000,15.353,1193.630,10244.631,487.761,1452.216,267.403,33.368,1211.621,0.000,1430.519,0.000,23.078
$DEVICE_MAMPS,138.827,74.399,1057.693,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.070,434.827,457.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31773,645
$CFSIZE,260165632,254537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,241107,040508,6127.570,-903.202,31,1.2,31,-9.2